feat: separate pure C lib to a standalone cmake target

README.md

@@ -11,6 +11,7 @@ By default, headers are read from `./include/controller/c` and stb from `./src/s
 ## Example
 
 ```bash
+git submodule update --init --recursive 
 conan create . \
   -o webots-controller/*:no_plugins=True
 ```

conanfile.py

@@ -61,5 +61,17 @@ class WebotsControllerConan(ConanFile):
         copy(self, "LICENSE", src=self.source_folder, dst=f"{self.package_folder}/licenses")
 
     def package_info(self):
-        self.cpp_info.libs = ["webots_cpp_controller", "webots_controller"]
-        self.cpp_info.includedirs = ["include", "include/controller/cpp", "include/controller/c"]
+        self.cpp_info.set_property("cmake_file_name", "webots-controller")
+        self.cpp_info.set_property("cmake_target_name", "webots-controller::webots-controller")
+        self.cpp_info.requires = ["CppController"]
+
+        controller = self.cpp_info.components["Controller"]
+        controller.libs = ["webots_controller"]
+        controller.includedirs = ["include", "include/controller/c"]
+        controller.set_property("cmake_target_name", "webots-controller::Controller")
+
+        cpp_controller = self.cpp_info.components["CppController"]
+        cpp_controller.libs = ["webots_cpp_controller"]
+        cpp_controller.includedirs = ["include", "include/controller/cpp", "include/controller/c"]
+        cpp_controller.requires = ["Controller"]
+        cpp_controller.set_property("cmake_target_name", "webots-controller::CppController")

src/controller/c/CMakeLists.txt

@@ -85,6 +85,7 @@ endif()
 # cmake.
 add_library(webots_controller ${WEBOTS_CONTROLLER_C_SOURCES})
 add_library(webots-controller::webots_controller ALIAS webots_controller)
+add_library(webots-controller::Controller ALIAS webots_controller)
 
 target_sources(
   webots_controller
@@ -136,7 +137,11 @@ if(UNIX)
 endif()
 
 install(
-  TARGETS webots_controller FILE_SET webots_c_headers
+  TARGETS webots_controller
+  RUNTIME DESTINATION "bin"
+  LIBRARY DESTINATION "lib"
+  ARCHIVE DESTINATION "lib"
+          FILE_SET webots_c_headers
           DESTINATION "include/controller/c"
           FILE_SET webots_plugin_headers
           DESTINATION "include")

src/controller/cpp/CMakeLists.txt

@@ -41,6 +41,8 @@ file(GLOB_RECURSE WEBOTS_CONTROLLER_CPP_PUBLIC_HEADERS CONFIGURE_DEPENDS
 add_library(webots_cpp_controller ${WEBOTS_CONTROLLER_CPP_SOURCES})
 add_library(webots-controller::webots_cpp_controller ALIAS
             webots_cpp_controller)
+add_library(webots-controller::CppController ALIAS webots_cpp_controller)
+add_library(webots-controller::webots-controller ALIAS webots_cpp_controller)
 
 target_sources(
   webots_cpp_controller
@@ -67,5 +69,9 @@ target_link_libraries(webots_cpp_controller PUBLIC webots_controller)
 
 install(
   TARGETS webots_cpp_controller
+  RUNTIME DESTINATION "bin"
+  LIBRARY DESTINATION "lib"
+  ARCHIVE DESTINATION "lib"
           # `include "../../c/webots/types.h"` in `Robot.hpp`
-          FILE_SET webots_cpp_headers DESTINATION "include/controller/cpp")
+          FILE_SET webots_cpp_headers
+          DESTINATION "include/controller/cpp")

test_package/CMakeLists.txt

@@ -1,10 +1,13 @@
 cmake_minimum_required(VERSION 3.21)
-project(test_package CXX)
+project(test_package C CXX)
 
 find_package(webots-controller REQUIRED CONFIG)
 
 add_executable(test_package test_package.cpp)
-target_link_libraries(test_package PRIVATE webots-controller::webots-controller)
+target_link_libraries(test_package PRIVATE webots-controller::CppController)
+
+add_executable(test_package_c test_package.c)
+target_link_libraries(test_package_c PRIVATE webots-controller::Controller)
 
 if(POLICY CMP0207)
   cmake_policy(SET CMP0207 NEW)
@@ -23,7 +26,8 @@ endif()
 # Webots controllers rely on seeing shared deps in the same directory as the
 # executable. Destination therefore change to "."
 install(
-  TARGETS test_package RUNTIME_DEPENDENCY_SET test_package_runtime_deps
+  TARGETS test_package test_package_c RUNTIME_DEPENDENCY_SET
+          test_package_runtime_deps
   RUNTIME DESTINATION .
   LIBRARY DESTINATION .
   ARCHIVE DESTINATION .)

test_package/conanfile.py

@@ -27,4 +27,5 @@ class TestPackageConan(ConanFile):
         if can_run(self):
             exe = os.path.join(self.source_folder, "test_package")
             self.run(exe, env="conanrun")
-
+            exe = os.path.join(self.source_folder, "test_package_c")
+            self.run(exe, env="conanrun")

test_package/test_package.c

@@ -0,0 +1,7 @@
+#include <webots/robot.h>
+
+int main(void) {
+  double (*c_symbol)(void) = &wb_robot_get_time;
+  (void)c_symbol;
+  return 0;
+}